A pedestrian with a stroller is walking in front of a crossing car. The pose and motion state of the car is known from tracking. The pedestrian casts a strong stereo shadow on the object, i.e., there are large regions that can only be seen from one camera.

The ego-vehicle follows the lead vehicle at approximately the same velocity through dense urban traffic, including two oncoming cars, a slow moving trailer ahead, and one car entering the visible field from the right.